Artificial Tune of Fuel Ratio: Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control

This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. VSC methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formulation. The main goal is to guarantee acceptable fuel ratio result and adjust. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the rate of error. The outputs represent fuel ratio, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC which controller coefficient is on-line tuned by fuzzy backstepping algorithm (FBSAVSC) is validated through comparison with VSC and proposed method. Simulation results signify good performance of trajectory in presence of uncertainty torque load. DOI:http://dx.doi.org/10.11591/ijece.v3i2.209

Modified PSO based PID Sliding Mode Control using Improved Reaching Law for Nonlinear systems

In this paper, a new model based nonlinear control technique, called PID (Proportional-Integral-Derivative) type sliding surface based sliding mode control is designed using improved reaching law. To improve the performance of the second order nonlinear differential equations with unknown parameters modified particle swarm intelligent optimization (MPSO) is used for the optimized parameters. This paper throws light on the sliding surface design, on the proposed power rate exponential reaching law, parameters optimization using modified particle swarm optimization and highlights the important features of adding an integral term in the sliding mode such as robustness and higher convergence, through extensive mathematical modeling. Siding mode control law is derived using Lyapunov stability approach and its asymptotic stability is proved mathematically and simulations showing its validity. MPSO PID-type Sliding mode control will stabilize the highly nonlinear systems, will compensate disturbances and uncertainty and reduces tracking errors. Simulations and experimental application is done on the non-linear systems and are presented to make a quantitative comparison.Comment: arXiv admin note: substantial text overlap with arXiv:2207.1112

Design of Super Twisting Integral Sliding Mode Control for Industrial Robot Manipulator

In the present work, integral sliding mode based continuous control algorithm is extended to multi input multi output system. The typical integral sliding mode control (ISMC) contains nominal control with discontinuous feedback control due to which overall control becomes discontinuous in nature. The proposed controller is a fusion of two continuous terms and one of which is able to handle, estimate and reject the disturbance successfully. A proposed robust ISMC technique is applied for industrial robot manipulators which utilizes interactive manipulation activity. Here, robust position tracking control obtained via ISMC principle for two link IRM scheme influenced by parametric uncertainties and external disturbances. The proposed ISMC design replaces the discontinuous part by continuous control, which super twisting control is able to handle the disturbance rejection completely. The effectiveness of the proposed control technique is tested under uncertain conditions and comparison study with other controllers has been done. The simulation result shows that the tracking error is effectively minimized by the proposed technique in presence of uncertain conditions

A fuzzy sliding controller for nonlinear systems

2000-2001 > Academic research: refereed > Publication in refereed journalVersion of RecordPublishe

Review of sliding mode control application in autonomous underwater vehicles

973-984This paper presents a review of sliding mode control for autonomous underwater vehicles (AUVs). The AUVs are used under water operating in the presence of uncertainties (due to hydrodynamics coefficients) and external disturbances (due to water currents, waves, etc.). Sliding mode controller is one of the nonlinear robust controllers which is robust towards uncertainties, parameter variations and external disturbances. The evolution of sliding mode control in motion control studies of autonomous underwater vehicles is summarized throughout for the last three decades. The performance of the controller is examined based on the chattering reduction, accuracy (steady state error reduction), and robustness against perturbation. The review on sliding mode control for AUVs provides insights for readers to design new techniques and algorithms, to enhance the existing family of sliding mode control strategies into a new one or to merge and re-supervise the control techniques with other control strategies, in which, the aim is to obtain good controller design for AUVs in terms of great performance, stability and robustness